MacHrus Ali, Fachrudin Hunaini, Imam Robandi, Nyoman Sutantra
This paper presents the simulation of vehicle steering control system using the Imperialist Competitive Algorithm (ICA) for optimizing Proportional Integral Derivative (PID) control parameters to suppress errors on lateral motion and the yaw motion of vehicles. The vehicles are represented in the model vehicle with 10 degrees of Freedom of vehicle dynamics system. The simulation results show that the PID control tuned by the ICA in the vehicle steering control system can adjust the plant output to the desired trajectory so that the stability of the vehicle is maintained. Vehicle yaw error and lateral error can be reduced by using ICA to determine PID parameter. The main advantage of proposed optimization is faster and more accurate compared with standard PID controller. And then the error of the controller is reduced too. The results obtained are of vehicle motion can be maintained in accordance with the desired trajectory with smaller error and was able to achieve higher speeds than with the control system using optimized without parameters. This paper only deals with software simulation to proof the effect of ICA-PID optimization. The hardware implementation will be investigated in the next future. © 2015 IEEE.
Electrical Engineering Dept., ITS, Surabaya, Indonesia; Mechanical Engineering Dept., ITS, Surabaya, Indonesia; Electrical Engineering Dept., Darul Ulum University, Jombang, Indonesia; Electrical Engineering Dept., Widyagama University, Malang, Indonesia
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